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A study of mine detecting and mine removal technology by using autonomous control working robot

Research Project

Project/Area Number 14350123
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionTokyo National College of Technology

Principal Investigator

SHIMOI Nobuhiro  Tokyo National College of Technology, Department of mechanical engineering, Associate Professors, 機械工学科, 助教授 (10300542)

Co-Investigator(Kenkyū-buntansha) TAKITA Yoshihiro  National Defense Academy, Faculty of engineering・Department of electronics engineering, Associate Professors, 情報工学科, 教授
WASAKI Katsumi  Shinshu University, Faculty of engineering・Department of Information engineering, Associate Professors, 工学部, 助教授 (70271492)
KAWAMOTO Paulin, N.  Shinshu University, Faculty of engineering・Department of Information engineering, Associate Professors, 工学部, 助教授 (40283238)
竹村 不二夫  テクノチップス株式会社, 代表者・主任研究員
高橋 三男  東京工業高等専門学校, 物質工学科, 教授 (40197182)
検見崎 徹  三井造船(株), メカトロシステム部, 技術部(研究者)
Project Period (FY) 2002 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥14,500,000 (Direct Cost: ¥14,500,000)
Fiscal Year 2005: ¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 2004: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2003: ¥7,900,000 (Direct Cost: ¥7,900,000)
Fiscal Year 2002: ¥1,100,000 (Direct Cost: ¥1,100,000)
KeywordsRobot control / Smart Sensing / IR Camera, / Mine Detection / Mine detector. / 探知ロボット / 金属探知器 / 対人地雷 / 遠隔探知技術 / 地雷処理技術 / 金属探知機 / 自立移動ロボット / 遠隔操縦技術 / 自律歩行ロボット
Research Abstract

To conduct mine detection experiments using an octal wheeled prototype robot RAT-1, we developed end effectors to be attached to the driving wheels of the robot. This enables the robot to step safely and stably without hitting hidden mines. We created a simulation model for this study to test the movement of a robot having metal sensors attached to the front of its wheels and a driving algorithm with effect control based on IR cameras. We verified the efficiency of the system in actual walking experiments. We also studied remote sensing technology uses for JR cameras combined with other metal sensors. Tests with trial mines were used to study the detection characteristics of IR cameras and various technologies for collecting and processing image data in real time for optimum mine detection.

Report

(5 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • 2002 Annual Research Report
  • Research Products

    (26 results)

All 2005 2004 2003 2002 2000 Other

All Journal Article (20 results) Book (1 results) Patent(Industrial Property Rights) (1 results) Publications (4 results)

  • [Journal Article] Generalized Full Adder Circuits(GFA),2005

    • Author(s)
      S.Yamaguchi, K.Wasaki, N.Shimoi:
    • Journal Title

      Part I;Formalized Mathematics Vol.13,No.4,

      Pages: 125-134

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] ファインセラミックスの生材加工2005

    • Author(s)
      下井信浩
    • Journal Title

      日本時計学会、論文誌、メカトロニクス Vol.49No.193

      Pages: 45-54

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Generalized Full Adder Circuits (GFA)2005

    • Author(s)
      Shinnosuke Yamaguchi, Katsumi Wasaki, Nobuhiro Shimoi
    • Journal Title

      Part I ; Formalized Mathematics Vol.13, No.4

      Pages: 125-134

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Mine Remote Sensing Technology Using a Working Robot2005

    • Author(s)
      Nobuhiro Shimoi, Yoshihiro Takita
    • Journal Title

      Journal of Robotics and Mechatronics, Motion Control and Applications in Robot Technology (RT) Vol.17, No.1

      Pages: 101-105

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Mine Remote Sensing Technology Using a Working Robot", Journal of Robotics and Mechatronics2005

    • Author(s)
      下井信浩, 滝田好宏
    • Journal Title

      Motion Control and Applications in Robot Technology(RT) Vol17.No1

      Pages: 101-105

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Generalized Full Adder Circuits (GFA)"2005

    • Author(s)
      Shin'nosuke Yamaguchi, Katsumi Wasaki, Nobuhiro Shimoi
    • Journal Title

      Formalized Mathematics. Part I Vol.13,No.4,

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ファインセラミックスの生材加工2005

    • Author(s)
      下井信浩
    • Journal Title

      日本時計学会論文誌,メカトロニクス, Vol.49 No.193

      Pages: 45-54

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Mine Remote Sensing Technology Using a Working Robot2005

    • Author(s)
      下井信浩, 滝田好宏
    • Journal Title

      Motion Control and Applications in Robot Technology (RT) Vol.17, No1

      Pages: 1-5

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of a Wheeled Mobile Robot Octal Wheel Realized Climbing up and Down Stairs2004

    • Author(s)
      Yoshihiro Takita, Nobhiro Shimoi:
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 1

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Development of a Wheeled Mobile Robot Octal Wheel Realized Climbing up and Down Stairs2004

    • Author(s)
      Yoshihiro Takita, Nobuhiro Shimoi
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS

      Pages: 2440-2445

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 人道的埋設地雷探知技術2004

    • Author(s)
      下井信浩, 滝田好宏, 和崎克己
    • Journal Title

      日本時計学会論文誌,メカトロニクス Vol.48 No1

      Pages: 9-18

    • NAID

      110002672263

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 人道的地雷探知・除去技術の推進2004

    • Author(s)
      下井信浩
    • Journal Title

      全国火薬類保安協会誌,火薬と保安 Vol.36, No2

      Pages: 15-20

    • NAID

      40006328342

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of a Wheeled Mobile Robot Octal Wheel Realized Climbing up and Down Stairs2004

    • Author(s)
      滝田好宏, 下井信浩
    • Journal Title

      Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS2004

      Pages: 2440-2445

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A Remote Sensing Method of Ground Mines using Time Difference IR Images2003

    • Author(s)
      Katsumi Wasaki, Nobuhiro Shimoi, Yoshihiro Takita
    • Journal Title

      Inverse Problems in Engineering Mechanics No6

      Pages: 261-270

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Mine Detecting Technology for Humanitarian Purpose,2003

    • Author(s)
      Nobuhiro, Shimoi, Yoshihiro Takita
    • Journal Title

      The 7thWorld Multi conference on Systemic, Cybernetics and Informatics SCI 1

      Pages: 166-17

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Remote Sensing Method of Ground Mines using Time Difference IR Images2003

    • Author(s)
      Katsumi Wasaki, Nobuhiro Shimoi, Yoshihiro Takita
    • Journal Title

      Inverse Problems in Engineering Mechanics No..6

      Pages: 261-270

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Remote Sensing Method of Ground Mines using Time Difference IR Images2003

    • Author(s)
      Katsumi Wasaki, Nobuhiro Shimoi, Yoshihiro Takita
    • Journal Title

      Proceedings of the International Symposium on Inverse Problems in Engineering Mechanics (ISIP2003) 1

      Pages: 144-145

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Mine Detecting Technology for Humanitarian Purpose2003

    • Author(s)
      Nobuhiro Shimoi, Yoshihiro Takita
    • Journal Title

      The 7th World Multi conference on Systemic, Cybernetics and Informatics SCI

      Pages: 166-171

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Remote Sensing Method of Ground Mines using Time Difference IR Images2003

    • Author(s)
      和崎克巳, 下井信浩, 滝田好宏
    • Journal Title

      Inverse Problems in Engineering Mechanics No6

      Pages: 261-270

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Mine Remote Sensing Technology Using a Working Robot,

    • Author(s)
      Nobuhiro Shimoi, Yoshihiro Takita Mine Remote Sensing Technology Using a Working Robot
    • Journal Title

      Journal of Robotics and Mechatronisc,Motion Control and Applications in Robot Technology(RT), Vol.17.No1

      Pages: 101-105

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Book] 地雷撲滅を目指す技術2002

    • Author(s)
      下井信浩
    • Total Pages
      160
    • Publisher
      森北出版
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Patent(Industrial Property Rights)] 地雷潅木処理装置2000

    • Inventor(s)
      下井信浩, 野波健三
    • Industrial Property Rights Holder
      JST
    • Filing Date
      2000-04-24
    • Acquisition Date
      2005-06-03
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Publications] 下井 信浩, 滝田好宏, 和崎克巳: "人道的地雷探知技術"日本時計学会誌. Vol148, No1. 9-18 (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] Nobuhiro Shimoi, Yoshihiro Takita: "Mine Detecting Technology for Humanitarian Purpose"The 7^<th> World Multi conference on Systemics, Cybernetice and Informatics SCI 2003. SCI2003. 166-171 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 滝田 好宏: "自立型ロボットの実現のための制御技術"エレクトロニクス実装学会誌. Vol6. 455-459 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 下井信浩: "地雷撲滅を目指す技術(人道的地雷探知・除去の現状)"森北出版社. 145 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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